Merge pull request #6 from robotika/feature/fix-laser-dirt

Feature/fix laser dirt

logparser.py

@@ -84,11 +84,14 @@ def parse(filename, verbose, gyro_output=False):
                 assert size == 2*271 + 271, size
                 scan = struct.unpack('>' + 'H'*271, data[:2*271])
 
+                # restrict laser view to 180deg
+                scan = scan[45:-45]
+
                 d = total_dist_raw * 6.465/400.0
                 pose_arr.append((d, 0))
                 for i, dist_mm in enumerate(scan):
                     if dist_mm > 0:
-                        angle = math.radians(i-135.0)
+                        angle = math.radians(i-90.0)
                         dist = dist_mm/1000.0
                         x, y = d + math.cos(angle)*dist, math.sin(angle)*dist
                         arr.append((x, y))

myr2017.py

@@ -147,6 +147,7 @@ def navigate_row(robot, verbose):
     MAX_GAP_SIZE = 13  # defined for plants on both sides
     OPEN_SIZE = 17
     OFFSET_SIZE = 5
+    END_OF_ROW_SIZE = 18 + 19  # for 180deg FOV
 
     robot.move_forward()
     end_of_row = False
@@ -186,7 +187,7 @@ def navigate_row(robot, verbose):
 
         if verbose:
             print('%4d' % max_dist, triplet)
-        if max_dist == 0:
+        if left + right >= END_OF_ROW_SIZE:
             end_of_row = True
 
 

robot.py

@@ -74,7 +74,7 @@ def wait(self, how_long):
 
     def update_laser(self, data):
         assert len(data) == 2*271 + 271, len(data)
-        self.laser = struct.unpack('>' + 'H'*271, data[:2*271])
+        self.laser = struct.unpack('>' + 'H'*271, data[:2*271])[45:-45]
 
     def update_odometry(self, data):
         assert len(data) == 4, len(data)